A novel robot hand with the magneto-rheological fluid solidification

Abstract

The conventional passively underactuated hand can self-adaptively grasp an object under the reaction force produced by other active joints or the grasped objects, but it may reject the object if the force disappears, and cannot grasp independently. In order to overcome this serious disadvantage, a novel kind design of the passively self-adaptive underactuated hand is proposed, called the magneto-rheological fluid (MRF) hand. The MRF can be instantaneously solidified while a fitful magnetic field being produced, and liquidized shortly after the magnetic field disappearing. Based on this characteristic, the MRF is applied to a self-adaptive hand which can solidify the shape of the joint grasping the object and keep the grasping force under the help of springs. The MRF Hand is actuated initially by the reaction force from the grasped object and locked by the solidified MRF ultimately. The MRF Hand can keep the shape of the grasping object securely during the grasping process.